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| Optimal design on shoulder joint of upper limb exoskeleton robot for motor rehabilitation and system application |
| YAN Hua, YANG Can-jun, CHEN Jie |
| State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University, Hangzhou 310027, China |
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Abstract Considering the low muscle power in post-stroke patients at the early stage, who need an intensive and repetitive movement training to regain their motor abilities, this work presented an exoskeleton system with three training modalities derived from traditional therapy, i.e. mirror training, teaching training and movement repetitive training. In mirror training, patient guides the impaired limb using the unaffected one to improve the voluntary motor coordination. During teaching training, the therapist wears master exoskeleton and guides one or more patients in slaver exoskeletons simultaneously. Movement repetitive training provides continuous movement training to patients, during which the trajectory is specified by the therapist. Based on the same serial kinematic model of the upper limb with seven degrees-of-freedom (DOF), the exoskeleton system comprises two subsystems including a master exoskeleton and a slaver exoskeleton functioning as orientation detection and motion assistance respectively. The mechanical shoulder joint was optimized to match the physiological motion of anatomical center of rotation (CoR) adaptively and improves the compatibility of human-machine kinematic chain. The results of clinical trials verified the ability of the exoskeleton system to provide safe and reliable movement therapy.
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Published: 01 April 2015
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上肢运动康复外骨骼肩关节优化设计与系统应用
针对脑卒中患者早期肌肉力量严重不足,需要密集重复性运动康复训练的情况,设计一套外骨骼机器人系统,并结合传统运动疗法提出镜像训练、示教训练和轨迹重复训练等训练模式.镜像训练通过健肢引导患肢运动,促使患者自主训练；示教训练由理疗师引导患肢运动,实现“一对多”分布式训练；轨迹重复训练能够按照理疗师指定的特定轨迹患肢进行动作重复训练.外骨骼机器人系统包含负责位姿检测的主外骨骼和负责动作辅助的从外骨骼2个子系统,两者具有相同的七自由度上肢串联运动学模型.根据人体肩关节旋转中心生理运动形式优化设计外骨骼自适应肩关节,提高了人机运动链相容性.临床实验结果表明:外骨骼系统能够为脑卒中患者提供安全可靠的运动训练.
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